A Class of Discrete-Time Stabilizing Controllers for Flexible Mechanical Systems

Abstract

A class of multivariable discrete-time control laws for flexible mechanical systems with colocated actuators and sensors is characterized. Stability of the proposed control law is derived in terms of energy dissipation properties of the system and is independent of physical parameters of the plant. The control law is applicable to linear, as well as nonlinear mechanical systems with any number of vibrational modes. It is therefore unaffected by modal truncation. The validity of the proposed approach is demonstrated by two examples.